@prefix geom: <https://comp-rob2b.github.io/metamodels/geometry/structural-entities#> .
@prefix geom-ext: <https://secorolab.github.io/metamodels/geometry/structural-entities#> .
@prefix geom-rel: <https://comp-rob2b.github.io/metamodels/geometry/spatial-relations#> .
@prefix geom-rel-ext: <https://secorolab.github.io/metamodels/geometry/spatial-relations#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix sh: <http://www.w3.org/ns/shacl#> .

geom-rel-ext:PoseDifference
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:PoseDifference ;
    sh:message "A pose difference must relate exactly one frame to exactly one reference frame." ;
    sh:property [ sh:path geom-rel:of ; sh:class geom:Frame ; sh:minCount 1 ; sh:maxCount 1 ] ;
    sh:property [ sh:path geom-rel:with-respect-to ; sh:class geom:Frame ; sh:minCount 1 ; sh:maxCount 1 ] .

geom-rel-ext:LinearDistanceShape
    a sh:NodeShape ;
    sh:targetClass geom-rel:LinearDistance ;
    sh:message "A linear distance must relate exactly two entities." ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:minCount 2 ;
        sh:maxCount 2 ;
        sh:nodeKind sh:BlankNodeOrIRI
    ] .

geom-rel-ext:PointPlaneDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:PointPlaneDistance ;
    sh:message "A point-plane distance must relate exactly one point and one plane." ;
    sh:property [ sh:path geom-rel:between-entities ; sh:maxCount 2 ; sh:nodeKind sh:BlankNodeOrIRI ] ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:qualifiedValueShape [ sh:class geom:Point ] ;
        sh:qualifiedMinCount 1 ;
        sh:qualifiedMaxCount 1
    ] ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:qualifiedValueShape [ sh:class geom-ext:Plane ] ;
        sh:qualifiedMinCount 1 ;
        sh:qualifiedMaxCount 1
    ] .

geom-rel-ext:PointLineDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:PointLineDistance ;
    sh:message "A point-line distance must relate exactly one point and one line." ;
    sh:property [ sh:path geom-rel:between-entities ; sh:maxCount 2 ; sh:nodeKind sh:BlankNodeOrIRI ] ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:qualifiedValueShape [ sh:class geom:Point ] ;
        sh:qualifiedMinCount 1 ;
        sh:qualifiedMaxCount 1
    ] ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:qualifiedValueShape [ sh:class geom-ext:Line ] ;
        sh:qualifiedMinCount 1 ;
        sh:qualifiedMaxCount 1
    ] .

geom-rel-ext:LineLineDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:LineLineDistance ;
    sh:message "A line-line distance must relate exactly two lines." ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:maxCount 2 ;
        sh:class geom-ext:Line
    ] .

geom-rel-ext:AngularDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:AngularDistance ;
    sh:message "An angular distance must relate exactly two entities." ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:minCount 2 ;
        sh:maxCount 2 ;
        sh:nodeKind sh:BlankNodeOrIRI
    ] .

geom-rel-ext:DirectionDirectionAngularDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:DirectionDirectionAngularDistance ;
    sh:message "A direction-direction angular distance must relate exactly two unit vectors." ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:maxCount 2 ;
        sh:class geom:UnitVector
    ] .

geom-rel-ext:DirectionPlaneAngularDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:DirectionPlaneAngularDistance ;
    sh:message "A direction-plane angular distance must relate exactly one unit vector and one plane." ;
    sh:property [ sh:path geom-rel:between-entities ; sh:maxCount 2 ; sh:nodeKind sh:BlankNodeOrIRI ] ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:qualifiedValueShape [ sh:class geom:UnitVector ] ;
        sh:qualifiedMinCount 1 ;
        sh:qualifiedMaxCount 1
    ] ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:qualifiedValueShape [ sh:class geom-ext:Plane ] ;
        sh:qualifiedMinCount 1 ;
        sh:qualifiedMaxCount 1
    ] .

geom-rel-ext:PlanePlaneAngularDistance
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass geom-rel-ext:PlanePlaneAngularDistance ;
    sh:message "A plane-plane angular distance must relate exactly two planes." ;
    sh:property [
        sh:path geom-rel:between-entities ;
        sh:maxCount 2 ;
        sh:class geom-ext:Plane
    ] .